It's hard to keep them off when your not there once they have already been aload up. So it's not ideal to leave them where they can choose to do so, however you are keeping them downstairs and off your bed so it's much better than before. If they jump down when they see you at least there's a level of respect coming though. Ideally beds on floor in kitchen but if that can't be done then you have too work with what you have. It's a possibility they may become distructive in annoyance so becarefull what you leave lying around. better safe than sorry.
You really are doing well. And I bet your friends GSD were very happy dogs because of their rules and boundries.